// mars robot 1

/* Initial beliefs */

at(P) :- pos(P,X,Y) & pos(r1,X,Y).

/* Initial goal */

!check(slots). 

/* Plans */

+!check(slots) : not garbage(r1)
   <- gotoClosest;
      !!check(slots).
+!check(slots).

+garbage(r1) : true 
	<- burn(garb);
		!!check(slots).